CN110062938A - Collision avoidance device and collision avoidance method in vehicle - Google Patents
Collision avoidance device and collision avoidance method in vehicle Download PDFInfo
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- CN110062938A CN110062938A CN201780076784.8A CN201780076784A CN110062938A CN 110062938 A CN110062938 A CN 110062938A CN 201780076784 A CN201780076784 A CN 201780076784A CN 110062938 A CN110062938 A CN 110062938A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides the collision avoidance device (10) in vehicle.Above-mentioned collision avoidance device (10) has: object probe portion (21,21s, 22), detected object object；Attribute acquisition unit (100) obtains the attribute of opposed vehicle using the detection result of above-mentioned object probe portion (21,21s, 22)；And collision avoidance enforcement division (31,100), using the attribute got by above-mentioned attribute acquisition unit (100), in the case where being determined as that opposed vehicle stretches out Central Line, at least any one party of report and the collision avoidance operation of collision possibility is executed.
Description
Cross reference to related applications
This application claims based on the excellent of Japanese patent application application number 2016-242119 filed on December 14th, 2016
First weigh, and by referring to be hereby incorporated its whole disclosed in.
Technical field
This disclosure relates to collision avoidance device and collision avoidance method in vehicle, more particularly to the collision avoidance for opposed vehicle
Control technology.
Background technique
This vehicle is avoided and is present in for using the detection result of the object detector as camera, the radar
Other vehicles in front, object as barrier the technology of collision be just practical.It is avoided in technology in barrier,
The execution of report, the collision avoidance control of the collision possibility of the object sufficiently recognized for driver is brought for driver
It is worried.Thus, for example, propose Japanese Patent Open Publication 2014-106805 record, cannot for being speculated as driver
The object enough identified, reports driver, or carries out the technology for the control that collision prevents.
However, opposed vehicle is pair that its position dynamically changes in the case where the object of collision avoidance is opposed vehicle
As object, there are the predictions of the driving condition of opposed vehicle to be not easy to this problem.In addition, intermittently being deposited in road of passing through over there
In the opposed vehicle relative to this vehicle.Also, due to controlling or making with handling maneuver in the collision avoidance for opposed vehicle
Dynamic control it requires and also consider with the collision possibility of for example other vehicles of object other than opposed vehicle, to other vehicles
Bring influences.
Therefore, a possibility that colliding in higher situation, it is desirable to execute the collision avoidance with opposed vehicle.
Summary of the invention
The disclosure can be implemented as mode below.
First method provides the collision avoidance device in vehicle.Collision avoidance device in vehicle involved in first method has: right
As object probe portion, detected object object；Attribute acquisition unit obtains opposed vehicle using the detection result of above-mentioned object probe portion
Attribute；And collision avoidance enforcement division is being determined as above-mentioned opposite vehicle using the above-mentioned attribute got by above-mentioned attribute acquisition unit
Stretch out Central Line in the case where, execute collision possibility report and collision avoidance operation at least any one party.
Collision avoidance device in the vehicle according to involved in first method, can the collision a possibility that in higher situation,
Execute the collision avoidance with opposed vehicle.
Second method provides the collision avoidance method in vehicle.Collision avoidance method in vehicle involved in second method has: making
The attribute of opposed vehicle is obtained with the detection result of object probe portion；And using being got by above-mentioned attribute acquisition unit
Above-mentioned attribute executes the report and collision avoidance of collision possibility in the case where being determined as that above-mentioned opposed vehicle stretches out Central Line
At least any one party of operation.
Collision avoidance method in the vehicle according to involved in second method, can the collision a possibility that in higher situation,
Execute the collision avoidance with opposed vehicle.In addition, the disclosure also can be implemented as the collision avoidance program in vehicle or record the program
Computer-readable recording medium.
Detailed description of the invention
The disclosure is more fully understood by detailed description below and attached drawing.
Fig. 1 is the explanatory diagram for indicating to carry the vehicle of collision avoidance device involved in first embodiment.
Fig. 2 is the block diagram that the function for the control device for indicating that collision avoidance device has involved in first embodiment is constituted.
Fig. 3 is to indicate that the collision avoidance device as involved in first embodiment executes for avoiding collision with opposed vehicle
Process flow flow chart.
Fig. 4 be schematically show it is in first embodiment, execute collision avoidance processing when first illustrate this vehicle and
The explanatory diagram of the positional relationship of opposed vehicle.
Fig. 5 is sheet when schematically showing Duplication in first embodiment, finding out this vehicle and opposed vehicle
The explanatory diagram of the positional relationship of vehicle and opposed vehicle.
Fig. 6 be schematically show it is in first embodiment, execute collision avoidance processing when second illustrate this vehicle and
The explanatory diagram of the positional relationship of opposed vehicle.
Fig. 7 be schematically show it is in first embodiment, execute collision avoidance processing when third illustrate this vehicle and
The explanatory diagram of the positional relationship of opposed vehicle.
Specific embodiment
Hereinafter, based on some embodiments to the collision avoidance device in vehicle involved in the disclosure and the collision avoidance in vehicle
Method is illustrated.
First embodiment:
It is used as shown in Figure 1, collision avoidance device 10 involved in first embodiment is mounted on vehicle 500.Collision avoidance device
10 have control device 100, millimetre-wave radar 21,21s, S.L.R 22, Guang Slew Rate sensor 23, vehicle-wheel speed sensor
24, steering angle sensor 25 and braking auxiliary actuator 30 and handling maneuver auxiliary actuator 31.In addition, braking auxiliary dress
Control device 100 can only be had by setting 10, include millimetre-wave radar 21,21s, S.L.R 22, Guang Slew Rate sensor 23, vehicle
Wheel speed sensor 24, steering angle sensor 25, braking auxiliary actuator 30 and and handling maneuver auxiliary actuator 31
In the case of, it is referred to as brake assist system.Vehicle 500 has wheel 501, brake apparatus 502, brake line 503, steering wheel
504, windshield 510 and front bumper 520.As long as in addition, vehicle have millimetre-wave radar 21,21s, S.L.R 22 with
And at least S.L.R 22 in LIDAR, that is, laser radar is used as object probe portion, in the present embodiment, has milli
Metre wave radar 21,21s and S.L.R 22, as object probe portion.
In vehicle 500, has brake apparatus 502 in each wheel 501.Each brake apparatus 502 is according to the braking of driver
Pedal operation realizes the braking of each wheel 501 by the brake fluid pressure supplied via brake line 503.Brake line 503 include make with
The brake piston and braking liquidus that the corresponding brake fluid pressure of brake pedal operation derives from.In the present embodiment, exist
Have braking auxiliary actuator 30 in brake line 503, can independently carry out hydraulic control with brake pedal operation, it is real as a result,
Now braking auxiliary.In addition, can also be set as control signal wire as brake line 503 using braking liquidus is replaced, make each braking
The structure for the actuator work that device 502 has.Steering wheel 504 is via the steering control mechanism 505 including turning-bar with before
The wheel 501 of side connects.In the present embodiment, having in such as turning-bar of steering control mechanism 505 can be with driver couple
The operation of steering wheel 504 independently executes the handling maneuver auxiliary actuator 31 of the handling maneuver of front side wheel 501, is achieved in
Handling maneuver auxiliary.
As shown in Fig. 2, control device 100 has central processing unit (CPU) 101, memory 102, input/output interface
103 and bus 104.CPU101, memory 102 and input/output interface 103 are via bus to be able to carry out two-way communication
Mode connect.Memory 102 includes in nonvolatile manner and reading exclusively storage attribute acquisition program P1 and collision avoidance program
The memory of P2 such as ROM and CPU101 read-write memory such as RAM, the attribute obtain program P1 for obtaining opposite direction
The attribute of vehicle, the collision avoidance program P2 are used for the auxiliary by the handling maneuver using steering control mechanism 505 and utilize system
The auxiliary of the braking of dynamic device 502 executes collision avoidance.CPU101 obtains program P1 expansion by the attribute that will be stored in memory 102
It to read-write memory and executes to play a role as attribute acquisition unit, similarly, by executing collision avoidance program P2
It plays a role as collision avoidance enforcement division.In addition, collision avoidance enforcement division also includes handling maneuver auxiliary actuator 31, receive to come from
CPU101's controls signal and applies the rotation torque for handling maneuver auxiliary to steering control mechanism 505；And braking is auxiliary
Actuator 30 is helped, the brake fluid pressure for braking auxiliary is applied to brake line 503.In addition, collision avoidance enforcement division can also be divided into
Execute control collision avoidance execution collision avoidance program P2 come to each actuator send control signal the CPU101 as control unit with
And the braking auxiliary actuator 30 as driving portion of brake apparatus 502 and steering control mechanism 505 is driven for collision avoidance
And handling maneuver auxiliary actuator 31.CPU101 can be the CPU of monomer, be also possible to execute multiple CPU of each program, or
Person can be the CPU that can be performed simultaneously the varied-mission versions of multiple programs.
Millimetre-wave radar 21,21s, S.L.R 22, Guang Slew Rate sensor 23, vehicle-wheel speed sensor 24, steering angle pass
Sensor 25 and braking auxiliary actuator 30 are connect via control signal wire with input/output interface 103 respectively.From millimeter wave thunder
It inputs and detects up to 21,21s, S.L.R 22, Guang Slew Rate sensor 23, vehicle-wheel speed sensor 24 and steering angle sensor 25
Information exports the control signal of the braking output instruction brake rating of auxiliary actuator 30 to handling maneuver auxiliary actuator 31
Indicate the control signal at handling maneuver angle.
Millimetre-wave radar 21,21s are by projecting millimeter wave and receiving the back wave reflected by object come detected object
The position of object and the sensor of distance.In the present embodiment, millimetre-wave radar 21 is configured in front bumper 520
Centre, two millimetre-wave radar 21s are arranged respectively at the two sides of front bumper 520.The spy exported from millimetre-wave radar 21,21s
Surveying signal for example can be by indicating to have handled received wave in the processing circuit that millimetre-wave radar 21,21s have
One or more of object represent the point of position or the signal of point range composition, or can be the untreated received wave of expression
Signal.In the case where untreated received wave is used as detection signal, execute in control device 100 for determining object
Position and distance signal processing.In addition it is also possible to replace millimetre-wave radar using laser radar.
S.L.R 22 is the filming apparatus for having the capturing elements such as a CCD, is to be exported and receiving visible light pair
As sensor of the appearance information as detection result that is, image data of object.From S.L.R 22 export image data by
Continuous multiple frame image constructions, show each frame image by pixel data in timing.In the present embodiment, S.L.R 22
It is configured in the center upper portion of windshield 510.The pixel data exported from S.L.R 22 be monochromatic pixel data or
Colored pixel data.In addition it is also possible to replace S.L.R 22 using the stereoscopic camera of compound eye.
Guang Slew Rate sensor 23 is the sensor for detecting the angular velocity of rotation of vehicle 500.Guang Slew Rate sensor 23 for example with
Set the central portion in vehicle.The detection signal exported from Guang Slew Rate sensor 23 is the electricity directly proportional to direction of rotation and angular speed
Pressure value.
Vehicle-wheel speed sensor 24 is the sensor for detecting the rotation speed of wheel 501, has wheel in each wheel 501
Velocity sensor 24.The detection signal exported from vehicle-wheel speed sensor 24 is the voltage value or table directly proportional to wheel velocity
Show the impulse wave at interval corresponding with wheel velocity.It can be obtained by using the detection signal from vehicle-wheel speed sensor 24
Obtain the information such as the operating range of car speed, vehicle.
Steering angle sensor 25 is to detect the torsional capacity generated by the handling maneuver of steering wheel 504 in turning-bar, that is,
The torque sensor of handling maneuver torque.In the present embodiment, in the steering for connecting steering wheel 504 with steering control mechanism
Has steering angle sensor 25 in bar.The detection signal exported from steering angle sensor 25 is the voltage directly proportional to torsional capacity
Value.
Braking auxiliary actuator 30 is independently realized for the brake pedal operation with driver through brake apparatus 502
The actuator of the braking of progress.In addition, installation is controlled based on the control signal from CPU101 in braking auxiliary actuator 30
The driver of the movement of actuator processed.In the present embodiment, have braking auxiliary actuator 30 in brake line 503, it should
Braking auxiliary actuator 30 makes the hydraulic increase and decrease in brake line 503 according to the control signal for carrying out self-control device 100.Braking auxiliary
For actuator 30 for example by module composition, which has electric motor and the hydraulic piston by electrical motor driven.Alternatively, can also
Used as the anti-locking apparatus of breakking away, anti-lock braking system and the control for brake actuator having been introduced into.
Handling maneuver auxiliary actuator 31 is to pass through steering for independently realizing with driver to the operation of steering wheel 504
The actuator for the handling maneuver that operating mechanism 505 carries out.In addition, installation is based on coming from handling maneuver auxiliary actuator 31
The control signal of CPU101 controls the driver of the movement of actuator.In the present embodiment, in steering control mechanism 505
The turning-bar for being included, alternatively, having handling maneuver auxiliary actuator 31 in rack-and-pinion gear part, according to from control
The control signal of device 100 changes the steering angle of steering control mechanism 505.Handling maneuver auxiliary actuator 31 is for example by having
The module composition of electric motor and speed reducer.The module can newly be mounted on the steering control mechanism for having hydraulic power steerig
In 505, alternatively, can with have the actuator as electric motor driven power steering and the electric motor that has been introduced into and speed reducer
Module dual-purpose.
Referring to Fig. 3~Fig. 7, the collision avoidance processing that collision avoidance device 10 executes as involved in first embodiment is said
It is bright.Attribute is executed by CPU101 and obtains program P1 and collision avoidance program P2, thus for example from the starting of the control system of vehicle
When until when stopping, it is anti-according to the time interval of regulation or until start switch and be pulled to and start switch and be disconnected
Handling routine shown in Fig. 3 is executed again.Hereinafter, being illustrated by taking situation shown in Fig. 4 as an example.In addition, attribute obtains program P1
It can be the handling routine for the difference being activated in different timings with collision avoidance program P2.For example, can start in this vehicle M1
When, alternatively, this vehicle M1 is consecutively carried out the attribute for obtaining opposed vehicle M2, M3 in the case where being in the state that can be travelled
Attribute obtains program P1, can be to be determined as that opposed vehicle M2, M3 are held this vehicle lane side stretching Central Line CL is triggering
Row collision avoidance program P2.
Under situation shown in Fig. 4, CPU101 obtains the attribute (step S100) of opposed vehicle M2, M3.In this embodiment party
In formula, opposed vehicle M2, M3 are meaned relative to the vehicle in the traveling of this vehicle M1 opposite direction.CPU101 is used from from millimeter
The detection result of wave radar 21,21s, such as calculate and obtain from this vehicle M1 to the distance of opposed vehicle M2, M3, opposed vehicle
M2, M3 relative to the relative velocity of this vehicle M1, the direction of opposed vehicle M2, M3, this vehicle M1 and opposed vehicle M2, M3 weight
Time (TTC) is expected in folded rate, collision until to collide with opposed vehicle M2, M3, the attribute as opposed vehicle M2, M3
Information.CPU101 is also used from the image data from S.L.R 22, such as is calculated and obtained the outer of other vehicle M2, M3
The position of shape size, the relative position relative to this vehicle M1, opposed vehicle M2, M3 relative to Central Line, as opposed vehicle
The attribute information of M2, M3.In addition, for the Duplication in the direction of opposed vehicle M2, M3, this vehicle M1 and opposed vehicle M2, M3,
Data are executed by using from the detection result from millimetre-wave radar 21,21s and the image data from S.L.R
Fusion treatment can be improved judgement precision.Duplication means the transverse width of this vehicle M1 and the width side of opposed vehicle M2, M3
To the i.e. ratio of overlapping in transverse direction.
Such as the direction of opposed vehicle M2, M3 are determined as described below.CPU101 use is defeated from millimetre-wave radar 21,21s
Enter as detection result test point and the pre-prepd corresponding vehicle frontal at a distance from away from this vehicle M1 it is laterally wide
Size is spent to determine and the comparable coordinate value of vehicle frontal.It is being more than the seat of the transverse width for the vehicle frontal determined when existing
Existing for cursor position and in the case where the comparable test point of vehicular sideview, CPU101 determines the traveling side longitudinal, i.e. this vehicle M1
To coordinate value be less than the test point of the pre-prepd comparable coordinate value of overall length size with vehicle.In the present embodiment, if
Without special instruction, the direction parallel with lane is known as longitudinal direction, the direction vertical with lane is known as laterally.CPU101 is according to general
The coordinate value of the endpoint of the transverse width of vehicle frontal and the straight line linked with the coordinate value of the comparable test point of vehicular sideview
Tilt the direction to determine opposed vehicle M2, M3.Alternatively, CPU101 can also be made by Data Fusion from millimetre-wave radar
21,21s input each test point coordinate position with from image data extraction input from S.L.R 22 out vehicle just
Face region and lateral side regions are overlapped, and the direction of opposed vehicle M2, M3 are determined using the coordinate value of each test point.
It is higher in the resolution ratio of millimetre-wave radar 21,21s, indicate that multiple test points of object are outputted as the feelings of point range
Under condition, as long as copying above-mentioned gimmick to determine the direction of opposed vehicle M2, M3 using point range.Furthermore, it is also possible to according to opposite direction
The vehicle frontal of vehicle M2, M3 determine the direction of opposed vehicle M2, M3 relative to the inclination of Central Line CL.Central Line CL can be with
It is determined by aftermentioned gimmick, indicates the coordinate of the straight line of the width direction of the vehicle frontal of opposed vehicle M2, M3 as chatted
It states and the coordinate value of point range can be used to determine like that.
By taking Fig. 5 as an example, the calculating of the Duplication of this vehicle M1 and opposed vehicle M2, M3 is illustrated.CPU101 is used
From millimetre-wave radar 21, the 21s point range arranged with the comparable test point of vehicle frontal or in the width direction inputted and in advance
At a distance from away from this vehicle M1 transverse width dimension of corresponding vehicle frontal prepared determines most connecing for opposed vehicle M2, M3
The coordinate of close end WP1.Referring to closest to end WP1 for opposed vehicle M2, M3 is in nearest distance relative to this vehicle M1
Opposed vehicle M2, M3 end, in the case where keeping left, the right front ends portion of opposed vehicle M2, M3 meet, logical on right side
In the case where row, the left front end of opposed vehicle M2, M3 meet.In addition, hereinafter, in order to make explanation become simple and logical with left side
Behavior example is illustrated.CPU101 finds out the extension extended closest to end WP2 towards opposed vehicle M2, M3 for making this vehicle M1
Line EL1 and along opposed vehicle M2, M3 positive width direction extension line EL2 intersection I S coordinate value, calculate with most
Close to the difference LP of the width direction of the coordinate value of end WP, and calculate the coordinate value difference of calculated width direction ruler
The overlap proportion of the width dimensions of very little and this vehicle M1 obtains Duplication.
CPU101 is also continuously monitored by the driving condition of opposed vehicle M2, M3, and barrier is set as attribute information and is kept away
Exempt from history flag.Barrier avoid history flag be record there is opposed vehicle M2 to be present in opposite lane stationary vehicle or
Person move ahead the opposed vehicle M3 before opposed vehicle M2 rear or the phenomenon that rear ramp and to catch up with and surpass stationary vehicle
Or opposed vehicle M3 is (hereinafter also referred to as " barrier vehicle ".) the phenomenon that both sides in the case where open, that is, be set to
Barrier avoids history.When generating each phenomenon, CPU101 is recorded in memory 102, if two phenomenons of record, open barrier
Avoid history flag.Opposed vehicle M2 is present in the phenomenon that rear or rear ramp of barrier vehicle M3 and is registered as using holding
The position coordinates that the detection result from millimetre-wave radar 21,21s inputted continuously detects opposed vehicle M2 are present in obstacle
The rear of the position coordinates of object vehicle M3 or rear ramp.Opposed vehicle M2 will catch up with and surpass the phenomenon that barrier vehicle M3 and be registered as
It is in using the position coordinates that the detection result from millimetre-wave radar 21,21s constantly inputted detects opposed vehicle M2
The side of the position coordinates of barrier vehicle M3, alternatively, opposed vehicle M2 has lateral velocity, longitudinal pair of opposed vehicle M2
Longitudinal ground speed V3 (km/h) of the ground speed V2 (km/h) greater than barrier vehicle M3.By with the time record it is each existing
As the history of each phenomenon can be obtained.
When any one for meeting condition below, CPU101 is set as clear and avoids history, that is, closes barrier
Avoid history flag.
(i) | opposed vehicle lateral position | >=| barrier lateral direction of car position |-α
The turning intersected with the lane of this vehicle is carried out in opposed vehicle, that is, in the case where being turned right, due to not
There are the opposed vehicles of supervision object, so closing barrier avoids history flag.In addition, in above-mentioned formula, lateral position
It is the lateral coordinate value in each vehicle, means that the coordinate value relative to this vehicle closest end, α are, for example, and a lane
The comparable value of width dimensions.
(ii) opposed vehicle and barrier vehicle are in same lane
At this point, since opposed vehicle alreadys exceed barrier vehicle and is in opposite lane, alternatively, abandoning barrier vehicle
Catch up with and surpass and be in opposite lane, so collision a possibility that reduce, it can be seen that the necessity of collision avoidance is eliminated.
(iii) barrier avoids history certain time or more
When from there is barrier to avoid the judgement of history by more than certain time, that is, opposite when by more than time-out time
The information that the barrier of vehicle avoids is out-of-date, and reliability reduces.Therefore, avoiding history flag by certain from unlatching barrier
At the time of more than the time, removing obstacles object avoids history flag.
Attribute information accessed by CPU101 use come determine opposed vehicle M2, M3 whether this vehicle lane side stretch out
Central Line CL (step S102).Specifically, CPU101 uses pattern match method from the image data inputted from S.L.R 22
Extract with the comparable pixel region of Central Line CL and with opposed vehicle M2, M3 comparable pixel region, using extract with
The position coordinates of the comparable pixel region of opposed vehicle M2, M3 and sentence with the position coordinates of the comparable pixel region of Central Line CL
Determine whether opposed vehicle M2, M3 stretch out Central Line CL.
In the example in fig. 4, opposed vehicle M2 stretches out Central Line CL, and CPU101 is determined as that opposed vehicle M2 stretches out Central Line
CL (step S102: "Yes"), moves to step S104.On the other hand, the case where the opposed vehicle for stretching out Central Line CL is not present
Under (step S102: "No"), CPU101 terminates present treatment routine.
In step S104, CPU101 obtains the position of this vehicle M1.Specifically, CPU101 is from defeated from S.L.R 22
The image data extraction Central Line CL entered, obtains position of this vehicle M1 relative to Central Line CL.This vehicle M1 is relative to center
The position of line CL it is meant that as shown in figure 4, this vehicle M1 in the lanes adjacent with Central Line CL, alternatively, such as Fig. 7 institute
Show, this vehicle M1 is not corresponding with the two in the adjacent lanes of Central Line CL.Road in this vehicle M1 traveling is 1
In the case where three-lane road, this vehicle M1 must be in the lanes adjacent with Central Line CL.On the other hand, in this vehicle M1 row
In the case that the road sailed is the road in 2 lanes or more, this vehicle M1 is in the lane adjacent with Central Line CL or not in
The lanes for entreating line CL adjacent.It is keeping left moreover, this vehicle M1 is meaned in the lanes adjacent with Central Line CL
In the case where, the line on the right side of this vehicle M1 is Central Line CL, it means in the case where keeping to the right, the left side of this vehicle M1
Line is Central Line CL.
CPU101 is determined a need for report using the position of the attribute information of opposed vehicle M2 and this vehicle M1 and kept away
Hit (step S106).In the case where at least one for meeting condition below, CPU101 is judged to needing to report.
(1) this vehicle M1 is in the lanes adjacent with Central Line CL,
(2) in opposed vehicle M2 straight trip,
(3) opposed vehicle M2 has barrier to avoid history,
(4) Duplication of this vehicle M1 and opposed vehicle M2 are pre-determined range.Furthermore, it is possible to preferential decision condition
(2)~(4), by considering condition (1), additionally it is possible to reduce the execution of the collision avoidance in the collision lower situation of possibility.In addition, with
The conditional number that is determined increase, it is possible to determine that it is higher for collision possibility.
(1) condition determines that the condition of (2) is according to right according to the position of this vehicle M1 accessed in step S104
Determine to the direction of vehicle M2, the condition of (3) according to barrier avoids history flag to determine, preparatory in the condition of (4)
The range of preparation is, for example, 0~50%, and more preferably 30~50%, the calculated Duplication when obtaining the attribute of opposed vehicle
In the case where entering these pre-prepd ranges, meet the condition of (4).In addition, the upper limit of Duplication, which is set as 50%, is
Because should assist the collision mode for carrying out collision avoidance by handling maneuver is because of the unbalanced vehicle damage of impact caused by colliding
Tend to biggish so-called eccentric impact, Duplication be more than 50%, in the case where the so-called folded collision of full weight, entire vehicle energy
Impact is enough blocked, and avoids passing through the state of affairs that the collision avoidance based on handling maneuver auxiliary instead results in eccentric impact.
CPU101 be judged as the condition for being unsatisfactory for (1)~(4) any one in the case where (step S106: "No"),
Terminate present treatment routine.CPU101 determines to touch in the case where being judged as the condition for meeting (1)~(4) (step S106: "Yes")
It hits and expects whether time TTC (s) is to need the judgement time TTC1 (s) that reports below (step S108).CPU101 is being determined as
In the case where TTC > TTC1 (step S108: "No"), terminate present treatment routine.Avoiding this vehicle M1's and opposed vehicle M2
In the case where having time enough before collision, that is, in the case where having the time at least than TTC1 long, without report, wait
The spontaneous of driver avoids.CPU101 (step S108: "Yes") in the case where being determined as TTC≤TTC1, execution promote to keep away
The report (step S110) hit.Report can at least appointing by the display in sound and instrument face plate or windshield 510
A side anticipate to execute.In addition it is also possible to which executing makes the reports such as the vibration of steering wheel 504.
CPU101 is obtained using the detection result from millimetre-wave radar 21,21s, the image data from S.L.R 22
The road environment on lane of this vehicle M1 far from the direction of Central Line CL is taken, is confirmed for avoiding this vehicle M1 and opposed vehicle
The space (step S112) to be avoided of the collision of M2.In addition, confirmation means existing determination, the judgement in space to be avoided.It is specific and
Speech, CPU101 determine the pre-determined vacation in the image data from S.L.R 22 on the road in the left side of this vehicle M1
If in other words, determining whether to detect empty sky with the presence or absence of the pixel region for indicating certain objects in region to be avoided
Between, mainly determine to assume using the detection result of millimetre-wave radar 21s in region to be avoided with the presence or absence of object, that is, determine
Whether the effective millimeter wave reflection point that indicates inspection shaft, top structure road on is detected.CPU101 is using from single
The image data of eye camera 22 is determined as assuming that there is the pixel region for indicating certain objects in region to be avoided,
Coordinate position corresponding with the pixel region of object indicated in hypothesis region to be avoided is found out using millimetre-wave radar 21s
Distance.CPU101 uses detection result and image data from millimetre-wave radar 21s and S.L.R 22, such as Fig. 4 institute
Show, in the case where object is not present in the left-hand lane of this vehicle M1 or lane road shoulder, this vehicle can be made by being determined to have
Advance the space FS to be avoided of (track AS) in left side forwards by M1.In addition, CPU101 can also find out and indicate that hypothesis is to be avoided
The distance of the corresponding coordinate position of the pixel region of object in region and the relative velocity of object and this vehicle M1,
And determines whether to make this vehicle M1 (track AS) is advanced without colliding with object in left side forwards.Such as shown in fig. 6,
In two-lane road, even if in the lane of road shoulder side there are in the case where other vehicle M4, if the speed of this vehicle M1 is
The speed of fast V1, other vehicle M4 are speed per hour V3, and the relative velocity (V3-V1) relative to this vehicle is 0km/h or more, then deposit
In the space FS to be avoided that will not collide and can carry out to left front travelling route change (track AS) with other vehicle M4.And
And even if the relative velocity of object is located at through braking auxiliary in object without colliding simultaneously with object less than 0km/h
In the case where the distance that can stop, there is the space FS to be avoided that travelling route change can be carried out to left front.
CPU101 determines whether can be to be avoided to space FS to be avoided, that is, whether there is space FS (step S114) to be avoided.
CPU101 terminates present treatment routine in the case where being determined as to be avoided can not arrive space FS to be avoided (step S114: "No").This
Be because avoid passing through execute collision avoidance cause with include other vehicles object collision.In addition, CPU101 can also be again
Determine condition below.
(1) this vehicle M1 is in the lanes adjacent with Central Line CL,
(2) in opposed vehicle M2 straight trip,
(3) opposed vehicle M2 has barrier to avoid history,
(4) Duplication of this vehicle M1 and opposed vehicle M2 are pre-determined range.
CPU101 determines that collision is pre- in the case where being determined as to be avoided can arrive space FS to be avoided (step S114: "Yes")
Whether material time TTC (s) is to need the judgement time TTC2 (s) of collision avoidance below (step S116).CPU101 is being determined as TTC >
In the case where TTC2 (step S116: "No"), terminate present treatment routine.Avoid the collision of this vehicle M1 and opposed vehicle M2 it
Before have time enough in the case where, that is, in the case where having the time at least than TTC2 long, without collision avoidance, and wait and driving
The spontaneous of member avoids.CPU101 (step S116: "Yes") in the case where being determined as TTC≤TTC2 executes collision avoidance (step
S118), terminate present treatment routine.Such as pass through the traveling to make this vehicle M1 in a manner of the track AS in Fig. 4 and Fig. 6
Route changes to execute collision avoidance.CPU101 determines the handling maneuver angle for carrying out travelling route change to space FS to be avoided, and
The control signal for indicating determined handling maneuver angle is sent to handling maneuver auxiliary actuator 31.Handling maneuver auxiliary actuates
Device 31 makes the work of steering control mechanism 505 to make the direction of this vehicle M1 towards left side, to realize determined handling maneuver angle.
Also, it in the case where executing collision avoidance under the traffic environment in front of the left side of this vehicle M1 there are object, may be performed simultaneously
The braking auxiliary of braking auxiliary actuator 30 is used.According to the object and this vehicle M1 in front of the left side of this vehicle M1
Distance and relative velocity by CPU101 determine braking auxiliary quantity.
When front carries out lane change to the left, also determine whether there is the front vehicle existing for rear of vehicle, and
In the case where not will lead to the contact with front vehicle and be able to carry out lane change, it can be determined that be avoided for that be avoided can arrive
Space FS.The detection of front vehicle is for example able to use millimetre-wave radar, the work that the side from vehicle rear bumper has
The detectable signal for the ultrasonic sensor having for parking sensor in vehicle rear bumper.
Collision avoidance device 10 and collision avoidance method involved in first embodiment from the description above are based on opposed vehicle
The attribute of M2, M3 execute report and the collision avoidance behaviour of collision possibility in the case where opposed vehicle M2, M3 stretch out Central Line
At least any one party of work, so collision avoidance can be executed in higher situation the collision with opposed vehicle M2, M3 a possibility that.
I.e., it is possible to improve the precision for judging whether to need collision avoidance, the execution of unnecessary collision avoidance can be reduced.In particular, for millimeter
The combination of wave radar 21,21s and S.L.R 22, there is no the detection accuracies of object to be in than the spy with presence to place's object
Survey the low tendency of precision.It is therefore especially preferred that in the case where opposed vehicle M2, M3 stretch out Central Line, that is, with opposed vehicle
Collision avoidance is executed in a possibility that collision of M2, M3 higher situation.
In addition, in the first embodiment, (1) this vehicle M1 is in the lanes adjacent with Central Line CL, in stretching
Line CL is entreated, in the case where there is a possibility that with the collision towards the opposed vehicle M2 of this vehicle M1, (2) opposed vehicle M2 straight trip
In, it stretches out under Central Line CL, with the higher situation of collision possibility of this vehicle M1 always, executes collision avoidance operation.Therefore, can
Improve the precision for judging whether to need collision avoidance, that is, a possibility that collision with opposed vehicle M2, M3 higher situation judgement essence
Degree.
In the case where the object of collision avoidance is opposed vehicle M2, M3, opposed vehicle M2, M3 are that its position dynamically changes
Object, the prediction of the driving condition of opposed vehicle M2, M3 is not easy to, but in the first embodiment, due to obstacle
Object avoids history from monitoring the driving condition of opposed vehicle M2, M3 in association, thus can identify opposed vehicle M2, M3 whether be
Tend to stretch out the opposed vehicle M2 of Central Line CL.In addition, in the current road in opposite for not having central partition, relative to this vehicle
Opposed vehicle M2, M3 of M1 discontinuously exists, but in the first embodiment, will only stretch out the opposed vehicle M2 of Central Line CL
As avoiding object, and triggering is executed as what collision avoidance was handled to stretch out Central Line CL, institute is to avoid unnecessary collision avoidance, that is,
It can need to execute collision avoidance auxiliary in the case where collision avoidance in reality.Also, due to the companion in the collision avoidance for opposed vehicle M2
With handling maneuver control or control for brake, it requires and also consider with the object other than opposed vehicle for example this vehicle M1's
Front advance in other vehicle M4 collision possibility, to the rear of this vehicle M1 traveling in other vehicle bring shadows
It rings.In the first embodiment, by the front of this vehicle M1 advance in other vehicle M4 driving condition for example based on pair
The beginning condition that the relative velocity of ground speed is executed as collision avoidance processing, so the collision with other vehicle M4 will not be generated.Separately
Outside, for other vehicles in the rear of this vehicle M1 is advanced, the driving condition of other vehicles is detected, may be with other vehicles
Collision situation under do not execute collision avoidance processing, thus prevent the collision with other vehicles.
Variation:
(1) in the above-described first embodiment, at least have S.L.R 22 and be used as object probe portion, but as long as at least
Has the object probe portion that can identify Central Line CL.For example, can be identified in the resolution ratio for improving laser radar
In the case where entreating line CL, can only have laser radar.Alternatively, can only have stereoscopic camera.
(2) in the first embodiment, use from as the millimetre-wave radar 21 of object probe portion, 21s, simple eye phase
The detectable signal or image data of machine 22 or laser radar and stereoscopic camera determine the attribute of opposed vehicle M2.With
This is opposite, also can be used via data related with the driving condition of other vehicles acquired in Vehicle Intercommunications System for example
Steering angle, accelerator opening, brake operation amount determine the attribute of opposed vehicle M2.
(3) in the first embodiment, the report of collision avoidance, the execution of collision avoidance are continuously carried out, but can also only execute and keep away
The report hit, alternatively, only executing the execution of collision avoidance.No matter, can be in the collision with opposed vehicle M2 in the case where any
In the higher situation of possibility, the report of collision avoidance or the execution of collision avoidance are executed, can be reduced related with unnecessary collision avoidance
The execution of processing.
(4) in the first embodiment, attribute is executed by CPU101 and obtains program P1 and collision avoidance program P2, thus with
The mode of software realizes attribute acquisition unit and collision avoidance enforcement division, but can also be by the integrated circuit of preprogramming or discrete
Circuit is realized in a manner of hardware.
More than, the disclosure is illustrated based on embodiment, variation, but the embodiment of above-mentioned invention be for
It becomes easy the understanding of the disclosure, is not to limit the disclosure.The disclosure is not departing from its purport and claims
In the case where can change, improve, and the disclosure includes its equivalent program.For example, in summary of the invention of the invention
The technical characteristic in the corresponding embodiment of technical characteristic, embodiment in each mode of middle record can be adjusted suitably
Change, combine, be used to solve the above subject part or all, or for reach said effect part or all.
In addition, can suitably delete if what these technical characteristics were illustrated not as technical characteristic necessary in this specification
It removes.For example, the collision avoidance device in vehicle involved in above-mentioned first method is set as application examples 1,
Application examples 2: in the collision avoidance device in the vehicle documented by application examples 2, in the above-mentioned attribute expression got
The Duplication for avoiding history, above-mentioned opposed vehicle and this vehicle for stating opposed vehicle close to Central Line or stretching Central Line is in
Prespecified range, above-mentioned opposed vehicle relative to this vehicle keep straight at least in the case where any one, above-mentioned collision avoidance
Enforcement division executes at least any one party of report and the collision avoidance operation of collision possibility.
Application examples 3: in the collision avoidance device in the vehicle documented by application examples 1 or 2, in this vehicle along Central Line's row
In the case where sailing, above-mentioned collision avoidance enforcement division executes at least any one party of report and the collision avoidance operation of collision possibility.
Application examples 4: above-mentioned in the collision avoidance device in vehicle documented by any one application examples in application examples 1~3
Collision avoidance enforcement division executes collision avoidance operation after possibility is collided in report.
Application examples 5: in the collision avoidance device in the vehicle documented by application examples 4, it is above-mentioned right that above-mentioned collision avoidance enforcement division uses
As the detection result of object probe portion, in the case where being able to confirm that the space to be avoided of this vehicle, execute to above-mentioned space to be avoided
Collision avoidance operation.
Application examples 6: above-mentioned in the collision avoidance device in vehicle documented by any one application examples in application examples 1~5
Object probe portion is the combination of simple eye filming apparatus and radar or simple eye filming apparatus and laser radar.
Application examples 7: in the collision avoidance device in the vehicle documented by application examples 6, above-mentioned collision avoidance enforcement division is in this vehicle
By the space that above-mentioned simple eye filming apparatus detection is empty in traveling lane, and by above-mentioned radar or laser radar in above-mentioned sky
Space in effective millimeter wave reflection point is not detected in the case where, confirm above-mentioned space to be avoided.
Application examples 8: in the collision avoidance device in vehicle documented by any one application examples in application examples 1~7, by upper
The collision avoidance operation for stating the execution of collision avoidance enforcement division is to avoid operating via handling maneuver portion (505).
Application examples 9: it in the collision avoidance device in the vehicle documented by application examples 8, is kept away by what above-mentioned collision avoidance enforcement division executed
Hitting operation further includes assisting via the braking of braking parts.
Claims (10)
1. the collision avoidance device in a kind of vehicle is the collision avoidance device (10) in vehicle (500), has:
Object probe portion (21,21,22), detected object object；
Attribute acquisition unit (100,101, P1), obtained using the detection result of above-mentioned object probe portion opposed vehicle (M2,
M3 attribute)；And
Collision avoidance enforcement division (31,100,101, P2) is determined as using the above-mentioned attribute got by above-mentioned attribute acquisition unit
In the case where stating opposed vehicle stretching Central Line (CL), the report and collision avoidance for executing collision possibility operate at least any one
Side.
2. the collision avoidance device in vehicle according to claim 1, wherein
Above-mentioned opposed vehicle is indicated close to Central Line in the above-mentioned attribute got or that stretches out Central Line avoid history, above-mentioned
The Duplication of opposed vehicle and this vehicle (M1) are in prespecified range, above-mentioned opposed vehicle relative in the straight trip of this vehicle
At least in the case where any one, above-mentioned collision avoidance enforcement division executes the report of collision possibility and at least appointing for collision avoidance operation
Anticipate a side.
3. the collision avoidance device according to claim 1 or in vehicle as claimed in claim 2, wherein
In the case where this vehicle is travelled along Central Line, above-mentioned collision avoidance enforcement division executes the report and collision avoidance of collision possibility
At least any one party of operation.
4. the collision avoidance device in vehicle described in any one according to claim 1~claim 3, wherein
Above-mentioned collision avoidance enforcement division executes collision avoidance operation after possibility is collided in report.
5. the collision avoidance device in vehicle according to claim 4, wherein
Above-mentioned collision avoidance enforcement division uses the detection result of above-mentioned object probe portion, in the space to be avoided for being able to confirm that this vehicle
(FS) it in the case where, executes and is operated to the collision avoidance in above-mentioned space to be avoided.
6. the collision avoidance device in vehicle described in any one according to claim 1~claim 5, wherein
Above-mentioned object probe portion is simple eye filming apparatus (22) and radar (21,21s) or simple eye filming apparatus and swashs
The combination of optical radar.
7. the collision avoidance device in vehicle according to claim 6, wherein
Above-mentioned collision avoidance enforcement division detects empty space by above-mentioned simple eye filming apparatus in the traveling lane of this vehicle, and passes through
In the case that effective millimeter wave reflection point is not detected in the space of above-mentioned sky in above-mentioned radar or laser radar, in confirmation
State space to be avoided.
8. the collision avoidance device in vehicle described in any one according to claim 1~claim 7, wherein
Being operated by the collision avoidance that above-mentioned collision avoidance enforcement division executes is to avoid operating via handling maneuver portion (505).
9. the collision avoidance device in vehicle according to claim 8, wherein
Operated by the collision avoidance that above-mentioned collision avoidance enforcement division executes further includes assisting via the braking of braking parts (502).
10. a kind of collision avoidance method in vehicle, has:
The attribute of opposed vehicle is obtained using the detection result of object probe portion；And
Using the above-mentioned attribute got by above-mentioned attribute acquisition unit, it is being determined as the case where above-mentioned opposed vehicle stretches out Central Line
Under, execute at least any one party of report and the collision avoidance operation of collision possibility.
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| JP2016242119A JP6938903B2 (en) | 2016-12-14 | 2016-12-14 | Collision avoidance device and collision avoidance method in vehicle |
| JP2016-242119 | 2016-12-14 | ||
| PCT/JP2017/044764 WO2018110607A1 (en) | 2016-12-14 | 2017-12-13 | Collision avoidance device for vehicle, and collision avoidance method |
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| CN110062938A true CN110062938A (en) | 2019-07-26 |
| CN110062938B CN110062938B (en) | 2022-05-27 |
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| JP (1) | JP6938903B2 (en) |
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|---|---|
| JP6938903B2 (en) | 2021-09-22 |
| US11260853B2 (en) | 2022-03-01 |
| WO2018110607A1 (en) | 2018-06-21 |
| US20190291730A1 (en) | 2019-09-26 |
| CN110062938B (en) | 2022-05-27 |
| DE112017006263T5 (en) | 2019-09-12 |
| JP2018097648A (en) | 2018-06-21 |
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